Backstepping sliding mode control of quadrotor attitude system based on immersion and invariance

被引：0
作者：
Xia L.-L. [1 ]
Cong J.-Y. [1 ]
Ma W.-J. [2 ]
Zhao Y. [1 ]
Liu H.-M. [3 ]
机构：
[1] School of Automation Engineering, Electric Power University, Jilin
[2] Science College, Northeast Electric Power University, Jilin
[3] College of Mechnical and Electrical Engineering, Qingdao Agricultural University, Qingdao
来源：
Liu, Hui-Min (lhmgct@126.com) | 1600年 / Editorial Department of Journal of Chinese Inertial Technology卷 / 25期
关键词：
Attitude system; immersion and invariance; Backstepping method; Quadrotor; Sliding mode control;
D O I：
10.13695/j.cnki.12-1222/o3.2017.05.024
中图分类号：
学科分类号：
摘要：
When it comes to the issue of quadrotor's attitude system stabilization under large uncertain external disturbances, an adaptive backstepping sliding mode controller (ABSMC) on basis of immersion and invariance (I&I) principle is designed. Firstly, the dynamic model of quadrotor's attitude system with unknown large disturbances is established. In sequence, the roll subsystem is designated to be set as an illustration, and the corresponding sliding mode control strategies related to the backstepping form & reaching law are designed and introduced accordingly. Specifically, the I&I principle is invoked in the design process for disturbance estimates error manifold, that is, choosing suitable adaptive rate helps to gain error manifold's invariant and attractive properties, guaranteeing the estimates error mentioned above converges to zero as expected. Finally, the stabilization analysis and numerical simulation are carried out. The results illustrate that, under adverse operation circumstances, the summation of tracking error square within 10 s by I&I principle descend to 11.2% of that derived by typical ABSMC, and the control precision is tested to be drastically enhanced. © 2017, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
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页码：695 / 700
页数：5
相关论文
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